CN109227103A - A kind of fastener automatic assembling machine people - Google Patents

A kind of fastener automatic assembling machine people Download PDF

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Publication number
CN109227103A
CN109227103A CN201810950064.6A CN201810950064A CN109227103A CN 109227103 A CN109227103 A CN 109227103A CN 201810950064 A CN201810950064 A CN 201810950064A CN 109227103 A CN109227103 A CN 109227103A
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CN
China
Prior art keywords
fastener
hydraulic
fastener plate
lifting
item
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Granted
Application number
CN201810950064.6A
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Chinese (zh)
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CN109227103B (en
Inventor
章炬辉
朱景建
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Huzhou Vocational and Technical College
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Huzhou Vocational and Technical College
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Priority to CN201810950064.6A priority Critical patent/CN109227103B/en
Publication of CN109227103A publication Critical patent/CN109227103A/en
Application granted granted Critical
Publication of CN109227103B publication Critical patent/CN109227103B/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06Screw or nut setting or loosening machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06Screw or nut setting or loosening machines
    • B23P19/065Arrangements for torque limiters or torque indicators in screw or nut setting machines

Abstract

The present invention relates to automatic assembling fields, in particular to a kind of fastener automatic assembling machine people, including pedestal, fastener plate, removable tool storage room, fastener plate transportation system, dynamical system and torque control mechanism, fastener plate transportation system includes the conveyer belt for transporting fastener plate and the lifting clamping component for being lifted fastener plate, the top of pedestal is arranged in by a plummet areal coordinate frame that can be vertically moved up or down for dynamical system, lifting clamping component includes the transverse-moving mechanism for transverse shifting fastener plate, lifting mechanism for vertically moving the vertical shift mechanism of fastener plate and for converting fastener plate posture, removable tool storage room includes the rotary type tub for loading several fastener sleeves, a kind of fastener automatic assembling machine people of the invention, a variety of fasteners can be provided simultaneously with And tool sleeve, and accurate automatic Picking can be carried out to the fastener of needs.

Description

A kind of fastener automatic assembling machine people
Technical field
The present invention relates to automatic assembling field, in particular to a kind of fastener automatic assembling machine people.
Background technique
Automatic technology is widely used in industry, agricultural, military affairs, scientific research, communications and transportation, business, medical treatment, service and family Front yard etc..It not only can be people from heavy manual labor, part mental labour and severe, dangerous using automatic technology Working environment in free, and the organ dysfunction of people can be extended, greatly improve labor productivity, enhance human knowledge The ability in the world and reforming world, the automation of machinery manufacture of early stage be using the mechanically or electrically single plane automation of component or Simple automatic assembly line.After the 1960s, due to the application of electronic computer, there is numerically-controlled machine tool, in processing The heart, robot, CAD, computer-aided manufacturing, Automatic Warehouse etc., the at present operation of many workshops Cheng Zhong, the operation to workpiece upper fastening bolt are mostly man-hour manually hand-held impact gun, and bolt is mounted on the corresponding position of workpiece, and by It is numerous in the type and specification of bolt, it can many times encounter frequent replacement tool or can not find corresponding specification bolt and sleeve The case where, it is therefore necessary to design has plurality of specifications bolt and tool and select tool and fastener can be pacified automatically The automation equipment of dress.
Summary of the invention
It being capable of the larger model fastener of automatic assembling in view of the above-mentioned deficiencies in the prior art, it is an object of the present invention to provide one kind Robot.
To solve the above problems, the present invention the following technical schemes are provided:
A kind of fastener automatic assembling machine people, including pedestal, fastener plate, removable tool storage room, the conveying of fastener plate System, dynamical system and torque control mechanism, fastener plate transportation system include the conveyer belt for transporting fastener plate With the lifting clamping component for being lifted fastener plate, conveyer belt is horizontally disposed at the top of the base, move tool storage room and Lifting clamping component is in the surface that conveyer belt is arranged in that is vertical and can going up and down, and dynamical system can be hung down by one The top of pedestal is arranged in the plummet areal coordinate frame for going straight up to drop, and dynamical system is capable of the setting of transverse shifting in plummet areal coordinate frame Top, move tool storage room be located at lifting clamping component and plummet areal coordinate frame between, lifting clamping component include for cross It is inserted to the transverse-moving mechanism of mobile fastener plate, the vertical shift mechanism for vertically moving fastener plate and for converting fastener The lifting mechanism of plate posture, removable tool storage room include the rotary type tub for loading several fastener sleeves, dynamical system System includes for picking up sleeve and installing the first hydraulic motor of fastener and for the first hydraulic motor of drive close to removable Side of first hydraulic motor far from removable tool storage room is arranged in the hydraulic pressure moving platform in tool storage room direction, torque control mechanism, and And torque control mechanism is fixed on hydraulic pressure moving platform, is further fixedly arranged on above pedestal for controlling robot operation Programmable logic controller (PLC).
Preferably, the fastener plate is made of engineering plastic material, if fastener plate include two overside items and Dry inner support item, two overside items are parallel to each other, and all inner support items are parallel to each other, and overside item hangs down mutually with inner support item Directly, all inner support items are arranged between two overside items, and the both ends of each inner support item respectively with two overside items Inside be fixedly connected, the side of all inner support items, which is provided with several, the fastener card for setting for fastener card Slot, all fastener card slots are axially perpendicular to fastener plate place plane, the fastener card slot on different inner support items Diameter be all different.
Preferably, it is provided with a clamping receptacles and a contraposition sliding slot on the outside of each overside item, clamps and inserts Wherein one end of overside item is arranged in hole, and the one end of overside item far from clamping receptacles is arranged in contraposition sliding slot, and aligns sliding slot Extend from the end of overside item to the direction of clamping receptacles, the length for aligning sliding slot is greater than the length of half overside item, tightly One of firmware plate is fixedly connected with a metal strip, and the length direction of metal strip is parallel to the length direction of overside item.
Preferably, the lifting mechanism includes two the first hydraulic lifting arms and two lifting pull rods, and two first hydraulic Elevating lever is in the two sides for being vertically arranged in conveyer belt respectively, and the bottom of two the first hydraulic lifting arms with the top of pedestal It is fixedly connected, two lifting pull rods are vertically arranged and are respectively positioned between two the first hydraulic lifting arms, two lifting pull rods Top be fixedly connected respectively with the top output port of two the first hydraulic lifting arms, the bottom of two lifting pull rods is located at The top of conveyor belt two sides, and the opposite side in two lifting pull rod bottom ends is provided with a positioning pin, two positioning pins It can be slidably matched one by one with two contraposition sliding slots of fastener plate.
Preferably, the vertical shift mechanism includes two the second hydraulic lifting arms and a horizontal braces, horizontal braces The surface of two lifting pull rods is set, two the second hydraulic lifting arms are separately positioned on the inside of two lifting pull rods, and And second the output end of hydraulic lifting arm extend to the bottoms of horizontal braces straight up, two the second hydraulic lifting arms it is defeated Outlet is fixedly connected with the bottom both ends of horizontal braces respectively, and the bottom both ends of horizontal braces are provided with a piston It covers, one is provided on each piston bush being capable of outwardly directed clamping pin.
Preferably, the transverse-moving mechanism includes slide bar, the first stepper motor and electromagnet, and sliding bar is embedded at horizontal branch The top of stay, and the length direction for being axially parallel to horizontal braces of slide bar are provided in the outer cylindrical wall of slide bar perpendicular Straight the first upward rack gear, stepper motor are fixedly mounted on the top side of horizontal braces, and stepper motor is vertical by one The middle position of horizontal braces is arranged in the motor mounting plate of setting, and the output end of stepper motor is fixedly connected with one first Gear, the bottom of first gear are engaged with the first rack gear.
Preferably, the removable tool storage room further includes that rectangular shaped rim bracket, second stepper motor and two thirds are hydraulic Elevating lever, two third hydraulic lifting arms are vertically arranged in the two sides of conveyer belt, the bottom of two third hydraulic lifting arms respectively It is fixedly connected at the top of pedestal, rectangular shaped rim bracket is in horizontally disposed, and the top of two third hydraulic lifting arms exports End is fixedly connected with the both ends bottom of rectangular shaped rim bracket respectively, is wherein fixedly connected with one on the outer wall of third hydraulic lifting arm A third linear displacement transducer for being used to detect rectangular shaped rim bracket lifting distance, second stepper motor are fixed at rectangle Top one end of frame bracket, rotary type tub are rotatably arranged on the inside of rectangular shaped rim bracket and pass with second stepper motor Dynamic connection, second stepper motor and rotary type tub are sequentially connected, side outer rim of the rotary type tub close to the first hydraulic motor The sleeve holding tank of several different diameter specifications is offered, all sleeve holding tanks are distributed uniformly and circumferentially in rotary type The outer rim of tub.
Preferably, the dynamical system further includes third stepper motor and cylinder body, and plummet areal coordinate frame is perpendicular by two The top of pedestal is arranged in the 4th hydraulic lifting arm being directly arranged, and two the 4th hydraulic lifting arms are located at the two sides of conveyer belt And bottom is fixedly connected with pedestal, the top output port of two the 4th hydraulic lifting arms top with plummet areal coordinate frame respectively Portion both ends are fixedly connected, and cylinder body slides the top for riding upon plummet areal coordinate frame, the bottom of second stepper motor and cylinder body Be fixedly connected, the transmission connection of the output shaft of second stepper motor and plummet areal coordinate frame, the first hydraulic motor close to removable One is fixedly connected on the output shaft of power driven tools library one end for picking up the barrel shell of sleeve, torque control mechanism is hydraulic with first Motor exports axis connection far from one end of barrel shell, and torque control mechanism is located at one far from the first hydraulic motor at the top of hydraulic pressure moving platform Side.
Preferably, the top two sides of the pedestal are provided with several for adjusting the solenoid valve of oil pressure, programmable logic Controller by horizontally disposed support plate be arranged in pedestal upper support plate both ends and the 5th hydraulic pressure support bar Outer wall is fixedly connected.
The utility model has the advantages that a kind of fastener automatic assembling machine people of the invention, fastener plate is for loading not when use The fastening bolt of same specification, the shape of the fastener card slot on fastener plate, specification, quantity can be according to being assembled machinery equipment Needs and targetedly designed, engineering plastics material has certain elasticity, ensure that fastening bolt can be clamped In fastener card slot and can by smoothly extract (fastener takes out upwards, after taking-up directly by inner support item it Between preset clearance stretch out and be mounted in machinery equipment), fastener plate is moved on a moving belt, and alignment slot is located at Front end on direction of transfer, therefore two contraposition sliding slots slide into the movement of fastener plate for the two sides positioning pin of two sides, Positioning pin slides into corresponding contraposition sliding slot, when the end of positioning pin and contraposition sliding slot contradicts, before fastener plate can not continue Into two the first hydraulic lifting arms drive two lifting pull rods to rise at this time, and two lifting pull rods are driven by two positioning pins Fastener plate rises overally, since the length of contraposition sliding slot is greater than the length of half overside item, fastener during this Plate be lifted during using the end of two alignment slots as fulcrum, ensure that fastener plate during being lifted, Its one end far from clamping receptacles is sagging under the effect of gravity, and one end with clamping receptacles then turns over, thus Fastener plate is set to be changed into vertical state by horizontality during lifting, after fastener plate is lifted, two Second hydraulic oil elevating lever drives horizontal braces to drop to two clamping pins and faces two clamping receptacles respectively, then electromagnetism Tie Tong electricity sucks the metal strip on fastener plate, stablizes fastener plate in vertical state, fastener plate is stablized perpendicular It after straight state, then translates and leads to oil in driving lever, force clamping pin to stretch out out of piston bush, to be inserted into corresponding clamping receptacles Fastener plate is locked in vertical state, is inserted with different size (no in all sleeve holding tanks in rotary type tub The sleeve-shaped and mechanism of same specification be not also identical) for turning the sleeve of fastening bolt, the cross section shape of sleeve holding tank Shape is semicircle, and sleeve, which is placed in sleeve holding tank, to be fallen off due to gravity, is covered on rotary type tub by rubber guard ring Outer rim, the outer wall and rubber guard ring for leaking out sleeve contradict, it is therefore prevented that sleeve falls off naturally, when the first hydraulic motor is selected After sleeve, which can be extracted out of corresponding anti-dropout notch (sleeve takes out upwards, used after insert again Put back to original position), master gear rotation is driven by second stepper motor, so that rotary type tub be driven slowly to rotate, makes to be chosen The sleeve taken is located at the top of rotary type tub, and takes rotary type tub to by third hydraulic lifting arm and gone up and down, with Just it is picked up for the first hydraulic motor, when rotary type tub, which drives selected sleeve to rise to, to be aligned with barrel shell, third hydraulic lifting Bar stops lifting, and the piston rod of cylinder body cooperation at this time drives hydraulic pressure moving platform transverse shifting, to make the first hydraulic motor close to quilt Sleeve is selected, until the outer end insertion barrel shell of the sleeve is completed to pick up, after picking up corresponding sleeve, rotary type tub is fallen back to Initial position, then hydraulic pressure moving platform continue close to fastener plate carry out fastening bolt selection, by the first stepper motor with The cooperation of first rack gear, enables fastener plate transverse shifting, makes the first liquid by the cooperation of the second rack gear and second gear Pressure motor can transverse shifting, fastener plate and first are driven by the second hydraulic lifting arm and the 4th hydraulic lifting arm respectively Hydraulic motor moves up and down, so that the fastening bolt for enabling the sleeve on barrel shell to select any position on fastener plate carries out It picks up, after the pickup for completing fastening bolt, fastening bolt, which is removed, is directly stretched out by the preset clearance between inner support item And be mounted in machinery equipment, during assembly, the equipment that is assembled is loaded platform (or external machine by equipment station Tool hand) fixed clamp and keep stable, each station platform that is loaded corresponds to a space coordinates, fastening bolt installation position The coordinate set is in and is assembled equipment station and is loaded in the coordinate system of platform, is assembled the seat of each bolt assembly point in equipment Scale value is all stored in the programmable logic controller (PLC) of automatic assembling machine people by editor, thus during realizing automatic assembling Accurate positionin to each bolt assembly point, while by the mobile cooperation between each component, determine the mobile road of shortest assembly Diameter, the corresponding assembly torque magnitude of the fastening bolt of every kind of specification are all different, and the torsion needed for fastening bolt is more than first When the acrotorque of hydraulic motor, torque detects gear since torsion not enough stops operating, and hydraulic clutch connection at this time makes two A second hydraulic motor rotates in same direction, so that two third gear band dynamic torque detection gears further rotate, to improve The torsion of first hydraulic motor, accurately controls the torque value of promotion by moment of torsion control pressure sensor, all in robot By solenoid valve control, all solenoid valves are of the invention by PLC controls for hydraulic circuit on-off and pressure A kind of fastener automatic assembling machine people, can be provided simultaneously with a variety of fasteners and tool sleeve, and can be to the tight of needs Firmware carries out accurate automatic Picking.
Detailed description of the invention
Fig. 1 show schematic perspective view one of the invention;
Fig. 2 show schematic perspective view two of the invention;
Fig. 3 show stereochemical structure decomposing schematic representation of the invention;
Fig. 4 show the schematic perspective view of fastener plate;
Fig. 5 show the floor map of fastener plate;
Fig. 6 show the schematic perspective view of rotary type tub;
Fig. 7 show enlarged diagram at the A in Fig. 6;
Fig. 8 show the stereochemical structure decomposing schematic representation one of dynamical system;
Fig. 9 show the stereochemical structure decomposing schematic representation two of dynamical system;
Figure 10 show sectional perspective structural schematic diagram of the invention;
Figure 11 show sectional perspective structural decomposition diagram of the invention;
Figure 12 show working state schematic representation one of the invention;
Figure 13 show working state schematic representation two of the invention;
Figure 14 show working state schematic representation three of the invention;
Figure 15 show working condition signal four of the invention;
Description of symbols: pedestal 1, fastener plate 2, conveyer belt 3, plummet areal coordinate frame 4, rotary type tub 5, hydraulic pressure moving platform 6, programmable logic controller (PLC) 7, overside item 8, inner support item 9, fastener card slot 10, clamping receptacles 11, contraposition sliding slot 12, metal Item 13, the first hydraulic lifting arm 14 are lifted pull rod 15, positioning pin 16, the second hydraulic lifting arm 17, horizontal braces 18, piston Set 19 clamps pin 20, slide bar 21, the first stepper motor 22, electromagnet 23, the first rack gear 24, motor mounting plate 25, first gear 26, translate driving lever 27, the first bar shaped avoid holes 28, rectangular shaped rim bracket 29, second stepper motor 30, third hydraulic lifting arm 31, annular rack 32, master gear 33, pinion 34, connecting shaft 35, synchronizing wheel 36, sleeve holding tank 37, rubber guard ring 38, prevent Fall off notch 39, third stepper motor 40, cylinder body 41, the 4th hydraulic lifting arm 42, motor shifting chute 43, rack gear mounting groove 44, second gear 45, the second rack gear 46, the second bar shaped avoid holes 47, piston rod 48, straight 49, line slide rail 50, barrel shell 51, detection support 52, torque detects gear 53, hydraulic clutch 54, the second hydraulic motor 55, moment of torsion control pressure sensor 56, fixture block 57, receiving gap 58, third gear 59, synchronous slot 60, solenoid valve 61, support plate 62, the first hydraulic motor 63, Herringbone 64, synchronous belt 65, fastening bolt 66, sleeve 67.
Specific embodiment
With reference to the accompanying drawings of the specification and embodiment, specific embodiments of the present invention are described in further detail:
Referring to figs. 1 to a kind of fastener automatic assembling machine people shown in figure 15, including it is pedestal 1, fastener plate 2, removable Tool storage room, fastener plate transportation system, dynamical system and torque control mechanism, fastener plate transportation system includes for transporting The conveyer belt 3 of defeated fastener plate 2 and lifting clamping component for being lifted fastener plate 2, conveyer belt 3 are horizontally set on bottom The top of seat 1, removable tool storage room and lift clamping component be in it is vertical and can go up and down be arranged in conveyer belt 3 just on The top of pedestal 1 is arranged in by a plummet areal coordinate frame 4 that can be vertically moved up or down for side, dynamical system, and dynamical system can The top that plummet areal coordinate frame 4 is arranged in of transverse shifting moves tool storage room and is located at lifting clamping component and plummet areal coordinate Between frame 4, lifting clamping component includes for the transverse-moving mechanism of transverse shifting fastener plate 2, for vertically moving fastener The vertical shift mechanism of plate 2 and lifting mechanism for converting 2 posture of fastener plate, if removable tool storage room includes for loading The rotary type tub 5 of dry fastener sleeve 67, dynamical system include for picking up sleeve 67 and installing the first liquid of fastener Pressure motor 63 and for driving the first hydraulic motor 63 close to the hydraulic pressure moving platform 6 in removable tool storage room direction, torque control mechanism Side of first hydraulic motor 63 far from removable tool storage room is set, and torque control mechanism is fixed at hydraulic pressure moving platform On 6, the top of pedestal 1 is further fixedly arranged on the programmable logic controller (PLC) 7 for controlling robot operation.
The fastener plate 2 is made of engineering plastic material, and fastener plate 2 includes two overside items 8 and several Inner support item 9, two overside items 8 are parallel to each other, and all inner support items 9 are parallel to each other, and overside item 8 and inner support item 9 hang down mutually Directly, all inner support items 9 are arranged between two overside items 8, and the both ends of each inner support item 9 respectively with two oversides The inside of item 8 is fixedly connected, and the side of all inner support items 9, which is provided with several, the fastener for setting for fastener card Card slot 10, all fastener card slots 10 are axially perpendicular to 2 place plane of fastener plate, tight on different inner support items 9 The diameter of firmware card slot 10 is all different, and fastener plate 2 is used for the fastening bolt 66 of loading different size, fastener plate 2 On shape, specification, the quantity of fastener card slot 10 can targetedly be designed according to the needs for being assembled machinery equipment, Engineering plastics material has certain elasticity, ensure that fastening bolt 66 can be clamped in fastener card slot 10 and can By smoothly extraction, (fastener takes out upwards, directly stretches out and installs by the preset clearance between inner support item 9 after taking-up In machinery equipment).
The outside of each overside item 8 is provided with a clamping receptacles 11 and a contraposition sliding slot 12, clamping receptacles 11 are arranged in wherein one end of overside item 8, and the one end of overside item 8 far from clamping receptacles 11 is arranged in contraposition sliding slot 12, and right Position sliding slot 12 extends from the end of overside item 8 to the direction of clamping receptacles 11, and the length of contraposition sliding slot 12 is greater than outside half The length of shelves item 8, one of fastener plate 2 are fixedly connected with a metal strip 13, and the length direction of metal strip 13 is parallel to The length of the length direction of overside item 8, contraposition sliding slot 12 is greater than the length of half overside item 8, what fastener plate 2 was lifted In the process using the end of two alignment slots as fulcrum, fastener plate 2 ensure that during being lifted, far from clamping One end of jack 11 is sagging under the effect of gravity, and one end with clamping receptacles 11 then turns over, to make to fasten Part plate 2 is changed into vertical state by horizontality during lifting.
The lifting mechanism includes two the first hydraulic lifting arms 14 and two lifting pull rods 15, two the first hydraulic liftings Bar 14 is in be vertically arranged in the two sides of conveyer belt 3, and top of the bottom of two the first hydraulic lifting arms 14 with pedestal 1 respectively Portion is fixedly connected, and two lifting pull rods 15 are vertically arranged and are respectively positioned between two the first hydraulic lifting arms 14, two lifts The top for rising pull rod 15 is fixedly connected with the top output port of two the first hydraulic lifting arms 14 respectively, two lifting pull rods 15 Bottom is located at the top of 3 two sides of conveyer belt, and the opposite side in two 15 bottom ends of lifting pull rod is provided with one and determines Position pin 16, two positioning pins 16 can be slidably matched with two contraposition sliding slots 12 of fastener plate 2 correspondingly, wherein one One is provided on the outer wall of a first hydraulic lifting arm 14 for detecting the first straight line displacement of lifting 15 lifting distance of pull rod Sensor, fastener plate 2 are moved on conveyer belt 3, and alignment slot is located at the front end on direction of transfer, therefore two right Position sliding slot 12 slides into, positioning pin 16 slides into corresponding contraposition with the movement of fastener plate 2 for the two sides positioning pin 16 of two sides Sliding slot 12, when the end of positioning pin 16 and contraposition sliding slot 12 contradicts, fastener plate 2 can not be moved on, and two the at this time One hydraulic lifting arm 14 drives two lifting pull rods 15 to rise, and two lifting pull rods 15 drive fastener by two positioning pins 16 Plate 2 rises overally, and fastener plate 2 is changed into plumbness by horizontality in uphill process.
The vertical shift mechanism includes that two the second hydraulic lifting arms 17 and a horizontal braces 18, horizontal braces 18 are set It sets in the surface of two lifting pull rods 15, two the second hydraulic lifting arms 17 are separately positioned on the interior of two lifting pull rods 15 Portion, and the output end of the second hydraulic lifting arm 17 extends to the bottom of horizontal braces 18 straight up, two second hydraulic The output end of elevating lever 17 is fixedly connected with the bottom both ends of horizontal braces 18 respectively, on the outer wall of one of raising rod One is fixedly installed for detecting the second straight line displacement sensor of 17 lifting distance of the second hydraulic lifting arm, horizontal braces 18 bottom both ends are provided with a piston bush 19, and one is provided on each piston bush 19 outwardly directed to clamp Pin 20, two clamping pins 20 are oppositely arranged, and are equipped in each piston for forcing the spring for clamping pin 20 and bouncing back, fastener is inserted After plate 2 is lifted, two the second hydraulic oil elevating levers drive horizontal braces 18 to drop to two clamping pin 20 difference faces Two clamping receptacles 11, and cooperated by the metal strip 13 at 2 back of fastener plate and transverse-moving mechanism magnetic force, fastener inserted Plate 2 is stablized in vertical state, and fastener plate 2 is stablized after vertical state, clamps pin 20 at this time and stretches out and be inserted into corresponding In clamping receptacles 11, so that fastener plate 2 is locked in vertical state.
The transverse-moving mechanism includes slide bar 21, the first stepper motor 22 and electromagnet 23, and the sliding of slide bar 21 is embedded at level The top of support bar 18, and the length direction for being axially parallel to horizontal braces 18 of slide bar 21, the outer cylindrical wall of slide bar 21 On be provided with the first rack gear 24 straight up, stepper motor is fixedly mounted on the top side of horizontal braces 18, stepping electricity The middle position of horizontal braces 18, the output end of stepper motor are arranged in by a motor mounting plate 25 being vertically arranged for machine It is fixedly connected with a first gear 26, the bottom of first gear 26 is engaged with the first rack gear 24, the both ends top part of slide bar 21 It is not fixedly connected there are two driving lever 27 is translated, two translation driving levers 27 translate inside and the piston of driving lever 27 in being vertically arranged 19 inside of set is connected to and is released by hydraulic cooperation by pin 20 is clamped, the strip structure that electromagnet 23 is vertically arranged and top Portion is transmitted through horizontal braces 18 straight up and is fixedly connected with the middle part of slide bar 21, and the bottom of horizontal braces 18, which is provided with, to be used for The first bar shaped avoid holes 28 that evacuation electromagnet 23 moves horizontally, when two clamping pins 20 face two clamping receptacles 11 respectively When, the energization of electromagnet 23 sucks the metal strip 13 on fastener plate 2, stablizes fastener plate 2 in vertical state, then puts down It moves and leads to oil in driving lever 27, force clamping pin 20 to stretch out out of piston bush 19, to be inserted into corresponding clamping receptacles 11 for fastener Plate 2 is locked in vertical state.
The removable tool storage room further includes rectangular shaped rim bracket 29, second stepper motor 30 and two third hydraulic liftings Bar 31, two third hydraulic lifting arms 31 are vertically arranged in the two sides of conveyer belt 3, the bottom of two third hydraulic lifting arms 31 respectively Portion is fixedly connected with the top of pedestal 1, and rectangular shaped rim bracket 29 is in horizontally disposed, and the top of two third hydraulic lifting arms 31 Portion's output end is fixedly connected with the both ends bottom of rectangular shaped rim bracket 29 respectively, the outer wall of one of third hydraulic lifting arm 31 On be fixedly connected with one for detecting the third linear displacement transducer of 29 lifting distance of rectangular shaped rim bracket, the second stepping electricity Machine 30 is fixed at top one end of rectangular shaped rim bracket 29, and rotary type tub 5 is rotatably arranged on rectangular shaped rim bracket 29 It inside and is sequentially connected with second stepper motor 30, rotary type tub 5 is circular ring structure, and its inner sidewall is provided with a circle Annular rack 32, the inside of rotary type tub 5 are provided with a master gear 33 and three pinions 34, all master gears 33 and pair The axis of gear 34 is parallel to each other, and master gear 33 is coaxially set with rotary type tub 5, and three pinions 34 are circumferentially Direction is evenly distributed on the outside of master gear 33, and each pinion 34 is engaged with master gear 33 and annular rack 32 simultaneously, main tooth Wheel 33 passes through two herringbones 64 with the two sides of three pinions 34 respectively and connect, and herringbone 64 and master gear 33 are total Axis setting, three ends of herringbone 64 are rotatablely connected for corresponding pinion 34 respectively, at the center of master gear 33 Be coaxially arranged with a connecting shaft 35, the end of connecting shaft 35 pass through corresponding herringbone 64 and with rectangular shaped rim bracket 29 Long side in the middle part of rotation connection, wherein one end of connecting shaft 35 extends to the outside of rectangular shaped rim bracket 29, and the elongated end It is fixedly connected with a synchronizing wheel 36, synchronizing wheel 36 and the output shaft of second stepper motor 30 are sequentially connected by synchronous belt 65, Rotary type tub 5 offers the sleeve holding tank of several different diameter specifications close to the side outer rim of the first hydraulic motor 63 37, all sleeve holding tanks 37 are distributed uniformly and circumferentially the outer rim in rotary type tub 5, and the length of sleeve holding tank 37 is small In the length of rotary type tub 5, the outer rim fixing sleeve of rotary type tub 5 is equipped with a rubber guard ring 38, right on rubber guard ring 38 Should the positions of all sleeve holding tanks 37 be provided with for pulling out the anti-dropout notch 39 extracted outward, rotary type cylinder for sleeve 67 Different size is inserted in all sleeve holding tanks 37 on frame 5 (67 shape of sleeve and mechanism of different size be not also identical) For turning the sleeve 67 of fastening bolt 66, the cross-sectional shape of sleeve holding tank 37 is semicircle, and sleeve 67 is placed in sleeve It can be fallen off due to gravity in holding tank 37, the outer rim of rotary type tub 5 is covered on by rubber guard ring 38, leak out sleeve 67 Outer wall and rubber guard ring 38 contradict, it is therefore prevented that sleeve 67 falls off naturally, after the first hydraulic motor 63 selectes sleeve 67, The sleeve 67 can be extracted out of corresponding anti-dropout notch 39 (sleeve 67 takes out upwards, used after insert again Return original position), by second stepper motor 30 drive master gear 33 rotate, thus drive rotary type tub 5 slowly rotate, make by The sleeve 67 of selection is located at the top of rotary type tub 5, and takes the progress of rotary type tub 5 to by third hydraulic lifting arm 31 Lifting, to be picked up for the first hydraulic motor 63.
The dynamical system further includes third stepper motor 40 and cylinder body 41, and plummet areal coordinate frame 4 is vertical by two The top of pedestal 1 is arranged in the 4th hydraulic lifting arm 42 being arranged, and two the 4th hydraulic lifting arms 42 are located at conveyer belt 3 Two sides and bottom is fixedly connected with pedestal 1, the top output port of two the 4th hydraulic lifting arms 42 are sat with plummet face respectively The bottom both ends of frame 4 are fixedly connected, and one is fixedly installed on the outer wall of one of them the 4th hydraulic lifting arm 42 for examining 4th linear displacement transducer of 4 lifting distance of sounding lead flat side of a hammer frame of axes, the top of plummet areal coordinate frame 4 are provided with a motor Shifting chute 43 and two rack gear mounting grooves 44, two rack gear mounting grooves 44 and the length direction of motor shifting chute 43 are mutually equal Row, two rack gear mounting grooves 44 are located at the two sides of motor shifting chute 43, and third stepper motor 40 is located at motor shifting chute 43 Interior and its axis direction is perpendicular to the length direction of motor shifting chute 43, and the output shaft of third stepper motor 40 is respectively to both ends Extending and be fixedly connected to second gear 45, two second gears 45 are located at the inside of two rack gear mounting grooves 44, The inside bottom of two rack gear mounting grooves 44 is provided with the second rack gear 46, two 45 bottoms of second gear respectively with two second Rack gear 46 engages, and cylinder body 41 slides the top for riding upon plummet areal coordinate frame 4, the bottom of second stepper motor 30 and cylinder body 41 Portion is fixedly connected, and the both ends of cylinder body 41 extend downwardly and are bonded with the side wall of plummet areal coordinate frame 4, third stepper motor 40 Output shaft extend respectively to the two sides of plummet areal coordinate frame 4, and extend downwardly end with 41 both ends bottom of cylinder body respectively It is provided on the cell wall of rotation connection, motor shifting chute 43 and rack gear mounting groove 44 and is exported for avoiding third stepper motor 40 The second bar shaped avoid holes 47 that axis moves horizontally, hydraulic pressure moving platform 6 are horizontally set on the top of cylinder body 41, the bottom of hydraulic pressure moving platform 6 The horizontally disposed piston rod 48 for having one with the hydraulic cooperation of cylinder body 41 in portion, the axis direction of piston rod 48 are parallel to third stepping The axis direction of motor 40, there are two straights 49 for the top setting of cylinder body 41, and the bottom of hydraulic pressure moving platform 6 is provided with straight line Sliding rail 50, straight 49 and line slide rail 50 are parallel to each other and parallel with piston rod 48, and two line slide rails 50 are one by one Corresponding to be slidably matched with two straights 49, the first hydraulic motor 63 is in being horizontally set on the top of hydraulic pressure moving platform 6 close to can One end of movable tool storehouse, the first hydraulic motor 63 are fixedly connected with one on the output shaft of removable tool storage room one end Connect for picking up the barrel shell 51 of sleeve 67, torque control mechanism and the first hydraulic motor 63 far from one end output shaft of barrel shell 51 It connects, torque control mechanism is located at 6 side of the top far from the first hydraulic motor 63 of hydraulic pressure moving platform, when rotary type tub 5 drives quilt When selecting sleeve 67 to rise to be aligned with barrel shell 51, third hydraulic lifting arm 31 stops lifting, and cylinder body 41 cooperates piston rod at this time 48 drive 6 transverse shifting of hydraulic pressure moving platform, to make the first hydraulic motor 63 close to selected sleeve 67, until the outer end of the sleeve 67 It is inserted into barrel shell 51 to complete to pick up, after picking up corresponding sleeve 67, rotary type tub 5 falls back to initial position, then hydraulic Slide unit 6 continues the selection that fastening bolt 66 is carried out close to fastener plate 2, passes through the first stepper motor 22 and the first rack gear 24 Cooperation, enables 2 transverse shifting of fastener plate, makes the first hydraulic motor by the second rack gear 46 and the cooperation of second gear 45 63 can transverse shifting, fastener plate 2 and are driven by the second hydraulic lifting arm 17 and the 4th hydraulic lifting arm 42 respectively One hydraulic motor 63 moves up and down, to enable fastening of the sleeve 67 to any position on fastener plate 2 on barrel shell 51 Bolt 66 is picked up, and fastening bolt 66 directly stretches out by the preset clearance between inner support item 9 after taking out and is mounted on machine In device equipment, during assembly, the equipment that is assembled is fixed by the equipment station platform (or external manipulator) that is loaded It clamps and keeps stable, each station platform that is loaded corresponds to a space coordinates, the seat of 66 installation site of fastening bolt Mark is loaded in the coordinate system of platform in being assembled equipment station, is assembled the coordinate value of each bolt assembly point in equipment It is stored in by editor in the programmable logic controller (PLC) 7 of automatic assembling machine people, thus to each during realizing automatic assembling The accurate positionin of a bolt assembly point, while by the mobile cooperation between each component, determine shortest assembly movement routine.
The torque control mechanism includes that 52, torques of a detection support detect 53, hydraulic clutches of gear 54, two the second hydraulic motors 55 and a moment of torsion control pressure sensor 56, detection support 52 are fixed at hydraulic pressure moving platform 6 Top middle portion, the on both sides of the middle of hydraulic pressure moving platform 6, which is provided with, blocks the fixture block 57 that sets for detection support 52, and detection support 52 is vertical It is arranged and the inside of its both ends bottom is engaged by clamping with corresponding fixture block 57, the middle part of detection support 52 is provided with one and erects Straight receiving gap 58, torque detection gear 53, which is vertically arranged in, to be accommodated in gap 58, and the both ends of torque detection gear 53 What can be rotated connect with detection support 52, and hydraulic clutch 54 is fixed at detection support 52 far from the first hydraulic motor 63 side, two the second hydraulic motors 55 are symmetricly set on the lower section of hydraulic clutch 54, accommodate and are additionally provided in gap 58 Two third gears 59, two third gears 59 are engaged with torque detection gear 53, the output of two the second hydraulic motors 55 Axis both passes through detection support 52 and is fixedly connected with two third gears 59 in detector gap respectively, and torque detects gear 53 Several synchronization slots 60 for supplying the transmission connection of 63 output shaft of the first hydraulic motor are provided at the center of side, at the center of the other side Connect with hydraulic clutch 54, moment of torsion control pressure sensor 56 be arranged in the outside of detection support 52 and with two the second liquid The oil inlet pipe of pressure motor 55 connects, and the corresponding assembly torque magnitude of fastening bolt 66 of every kind of specification is all different, when fastening spiral shell When torsion needed for bolt 66 is more than the acrotorque of the first hydraulic motor 63, torque detects gear 53 since torsion not enough stops turning Dynamic, the connection of hydraulic clutch 54 at this time rotates in same direction two the second hydraulic motors 55, so that two third gears 59 drive and turn round Square detects gear 53 and further rotates, to improve the torsion of the first hydraulic motor 63, passes through moment of torsion control pressure sensor The torque value that 56 accurate controls are promoted.
The top two sides of the pedestal 1 are provided with several for adjusting the solenoid valve 61 of oil pressure, Programmable logical controller Device 7 by a horizontally disposed support plate 62 be arranged in pedestal 1 upper support plate 62 both ends and the 5th hydraulic pressure support bar Outer wall be fixedly connected, all hydraulic circuit on-off and pressure are controlled by solenoid valve 61 in robot, all solenoid valves 61 It is controlled by programmable logic controller (PLC) 7.
First straight line displacement sensor, second straight line displacement sensor, third linear displacement transducer and the 4th straight line position Displacement sensor model is consistent, and testing principle is that the function of linear displacement transducer is straight line mechanical displacement to be converted into electricity Signal, in order to reach this effect, usually by variable resistance sliding rail fixation sensor fixed position, by slide plate in sliding rail On displacement measure different resistance values, sensor sliding rail connects steady-state DC voltage, the low current allowed to flow through micromicroampere, sliding Voltage between piece and beginning, it is directly proportional to the mobile length of slide plate.
Working principle: fastener plate 2 is used for the fastening bolt 66 of loading different size when use, on fastener plate 2 Shape, specification, the quantity of fastener card slot 10 can targetedly be designed, work according to the needs for being assembled machinery equipment Engineering plastics material has certain elasticity, ensure that fastening bolt 66 can be clamped in fastener card slot 10 and can be by Smoothly (fastener takes out upwards, directly stretches out and is mounted on by the preset clearance between inner support item 9 after taking-up for extraction In machinery equipment), fastener plate 2 is moved on conveyer belt 3, and alignment slot is located at the front end on direction of transfer, therefore Two contraposition sliding slots 12 slide into the movement of fastener plate 2 for the two sides positioning pin 16 of two sides, and positioning pin 16, which slides into, to be corresponded to Contraposition sliding slot 12, when positioning pin 16 and contraposition sliding slot 12 end contradict when, fastener plate 2 can not move on, at this time Two the first hydraulic lifting arms 14 drive two lifting pull rods 15 to rise, and two lifting pull rods 15 are driven by two positioning pins 16 Fastener plate 2 rises overally, since the length of contraposition sliding slot 12 is greater than the length of half overside item 8 during this, tightly Using the end of two alignment slots as fulcrum during the lifting of firmware plate 2, it ensure that fastener plate 2 in the mistake being lifted Cheng Zhong, one end far from clamping receptacles 11 is sagging under the effect of gravity, and one end with clamping receptacles 11 is then It turns over, so that fastener plate 2 be made to be changed into vertical state by horizontality during lifting, fastener plate 2 is lifted After rising, two the second hydraulic oil elevating levers drive horizontal braces 18 to drop to two clamping pins 20 and face two folders respectively Tight jack 11, the then energization of electromagnet 23 suck the metal strip 13 on fastener plate 2, stablize fastener plate 2 vertical State, fastener plate 2 are stablized after vertical state, then translate and lead to oil in driving lever 27, force and clamp pin 20 from piston bush It stretches out in 19, fastener plate 2 is locked in vertical state to be inserted into corresponding clamping receptacles 11, in rotary type tub 5 Being used for for different size (67 shape of sleeve and mechanism of different size not being also identical) is inserted in all sleeve holding tanks 37 The sleeve 67 of fastening bolt 66 is turned, the cross-sectional shape of sleeve holding tank 37 is semicircle, and sleeve 67 is placed in sleeve holding tank It can be fallen off due to gravity in 37, the outer rim of rotary type tub 5 is covered on by rubber guard ring 38, the outer wall for leaking out sleeve 67 It is contradicted with rubber guard ring 38, it is therefore prevented that sleeve 67 falls off naturally, after the first hydraulic motor 63 selectes sleeve 67, can incite somebody to action The sleeve 67 extracted out of corresponding anti-dropout notch 39 (sleeve 67 takes out upwards, used after insert back again in situ Set), it drives master gear 33 to rotate by second stepper motor 30, so that rotary type tub 5 be driven slowly to rotate, makes to be selected Sleeve 67 is located at the top of rotary type tub 5, and takes rotary type tub 5 to by third hydraulic lifting arm 31 and gone up and down, To be picked up for the first hydraulic motor 63, when rotary type tub 5, which drives selected sleeve 67 to rise to, to be aligned with barrel shell 51, third Hydraulic lifting arm 31 stops lifting, and cylinder body 41 cooperates piston rod 48 to drive 6 transverse shifting of hydraulic pressure moving platform at this time, to make first Hydraulic motor 63 picks up corresponding sleeve until the outer end insertion barrel shell 51 of the sleeve 67 is completed to pick up close to selected sleeve 67 After 67, rotary type tub 5 falls back to initial position, and then hydraulic pressure moving platform 6 continues to carry out fastening spiral shell close to fastener plate 2 The selection of bolt 66 enables 2 transverse shifting of fastener plate by the cooperation of the first stepper motor 22 and the first rack gear 24, leads to Crossing the second rack gear 46 and the cooperation of second gear 45 enables 63 transverse shifting of the first hydraulic motor, passes through the second hydraulic lifting arm 17 and the 4th hydraulic lifting arm 42 drive fastener plate 2 and the first hydraulic motor 63 to move up and down respectively, to make barrel shell 51 On sleeve 67 fastening bolt 66 of any position on fastener plate 2 can be picked up, complete fastening bolt 66 and pick up After taking, fastening bolt 66 is directly stretched out and is mounted in machinery equipment by the preset clearance between inner support item 9 after taking out, During assembly, the equipment that is assembled is loaded by equipment station and platform (or external manipulator) fixed clamp and is kept Stablize, each station platform that is loaded corresponds to a space coordinates, and the coordinate of 66 installation site of fastening bolt, which is in, to be filled It is loaded in the coordinate system of platform with equipment station, the coordinate value for each bolt assembly point being assembled in equipment is saved by editor In the programmable logic controller (PLC) 7 of automatic assembling machine people, to be assembled during realizing automatic assembling to each bolt The accurate positionin of point, while by the mobile cooperation between each component, determines shortest assembly movement routine, every kind of specification it is tight The corresponding assembly torque magnitude of fixing bolt 66 is all different, and the torsion needed for fastening bolt 66 is more than the first hydraulic motor 63 When acrotorque, torque detects gear 53 since torsion not enough stops operating, and the connection of hydraulic clutch 54 at this time makes two second Hydraulic motor 55 rotates in same direction, so that two third gears 59 are further rotated with dynamic torque detection gear 53, to improve The torsion of first hydraulic motor 63 accurately controls the torque value promoted, institute in robot by moment of torsion control pressure sensor 56 Some hydraulic circuit on-off and pressure are controlled by solenoid valve 61, and all solenoid valves 61 are controlled by programmable logic controller (PLC) 7.
The above described is only a preferred embodiment of the present invention, not making any limit to technical scope of the invention System, therefore any subtle modifications, equivalent variations and modifications to the above embodiments according to the technical essence of the invention, In the range of still falling within technical solution of the present invention.

Claims (9)

1. a kind of fastener automatic assembling machine people, it is characterised in that: including pedestal (1), fastener plate (2), removable start building Tool library, fastener plate (2) send system, dynamical system and torque control mechanism, and fastener plate (2) transportation system includes Lifting clamping component for transporting the conveyer belt (3) of fastener plate (2) and for being lifted fastener plate (2), conveyer belt (3) it is horizontally set on the top of pedestal (1), tool storage room is moved and lifting clamping component is in vertical and what can be gone up and down sets The surface in conveyer belt (3) is set, the plummet areal coordinate frame (4) that dynamical system can be vertically moved up or down by one is arranged in pedestal (1) top, dynamical system are capable of the setting of transverse shifting at the top of plummet areal coordinate frame (4), and removable tool storage room is located at It lifts between clamping component and plummet areal coordinate frame (4), lifting clamping component includes for transverse shifting fastener plate (2) Transverse-moving mechanism, the vertical shift mechanism for vertically moving fastener plate (2) and the lifting for converting fastener plate (2) posture Mechanism, removable tool storage room include the rotary type tub (5) for loading several fastener sleeves (67), and dynamical system includes For pick up sleeve (67) and install fastener the first hydraulic motor (63) and for drive the first hydraulic motor (63) it is close The hydraulic pressure moving platform (6) in removable tool storage room direction, torque control mechanism setting are started building in the first hydraulic motor (63) far from removable Has the side in library, and torque control mechanism is fixed on hydraulic pressure moving platform (6), the top of pedestal (1) is also fixedly installed There is the programmable logic controller (PLC) (7) for controlling robot operation.
2. a kind of fastener automatic assembling machine people according to claim 1, it is characterised in that: the fastener plate (2) be made of engineering plastic material, fastener plate (2) include two overside items (8) and several inner support items (9), two Overside item (8) is parallel to each other, and all inner support items (9) are parallel to each other, and overside item (8) and inner support item (9) are orthogonal, owns Inner support item (9) is arranged between two overside items (8), and the both ends of each inner support item (9) respectively with two oversides Item is fixedly connected on the inside of (8), the side of all inner support items (9) be provided with several have it is tight for being set for fastener card Firmware card slot (10), the plane where being axially perpendicular to fastener plate (2) of all fastener card slots (10), different inner supports The diameter of fastener card slot (10) on item (9) is all different.
3. a kind of fastener automatic assembling machine people according to claim 2, it is characterised in that: each overside item (8) clamping receptacles (11) and a contraposition sliding slot (12) are provided on the outside of, clamping receptacles (11) are arranged in overside item (8) wherein one end, contraposition sliding slot (12) setting align sliding slot in the one end of overside item (8) far from clamping receptacles (11) (12) extend from the end of overside item (8) to the direction of clamping receptacles (11), the length of contraposition sliding slot (12) is greater than half The length of overside item (8), one of fastener plate (2) are fixedly connected with a metal strip (13), the length of metal strip (13) It is oriented parallel to the length direction of overside item (8).
4. a kind of fastener automatic assembling machine people according to claim 3, it is characterised in that: the lifting mechanism includes Two the first hydraulic lifting arms (14) and two lifting pull rods (15), two the first hydraulic lifting arms (14) are in be vertically arranged respectively In the two sides of conveyer belt (3), and the bottom of two the first hydraulic lifting arms (14) is fixedly connected at the top of pedestal (1), Two lifting pull rods (15) are vertically arranged and are respectively positioned between two the first hydraulic lifting arms (14), two lifting pull rods (15) top is fixedly connected with the top output port of two the first hydraulic lifting arms (14) respectively, two lifting pull rods (15) Bottom is located at the top of conveyer belt (3) two sides, and the opposite side in two lifting pull rod (15) bottom ends is provided with one A positioning pin (16), two positioning pins (16) can two contraposition sliding slots (12) sliding with fastener plate (2) one by one match It closes.
5. a kind of fastener automatic assembling machine people according to claim 4, it is characterised in that: the vertical shift mechanism includes Two the second hydraulic lifting arms (17) and a horizontal braces (18), horizontal braces (18) are arranged in two lifting pull rods (15) surface, two the second hydraulic lifting arms (17) are separately positioned on the inside of two lifting pull rods (15), and second The output end of hydraulic lifting arm (17) extends to the bottom of horizontal braces (18), two the second hydraulic lifting arms straight up (17) output end is fixedly connected with the bottom both ends of horizontal braces (18) respectively, and the bottom both ends of horizontal braces (18) are equal It is provided with a piston bush (19), one is provided on each piston bush (19) being capable of outwardly directed clamping pin (20).
6. a kind of fastener automatic assembling machine people according to claim 5, it is characterised in that: the transverse-moving mechanism includes Slide bar (21), the first stepper motor (22) and electromagnet (23), slide bar (21) slide the top for being embedded at horizontal braces (18), And the length direction for being axially parallel to horizontal braces (18) of slide bar (21) is provided in the outer cylindrical wall of slide bar (21) perpendicular Straight upward the first rack gear (24), stepper motor are fixedly mounted on the top side of horizontal braces (18), and stepper motor passes through In the middle position of horizontal braces (18), the output end of stepper motor is solid for one motor mounting plate (25) setting being vertically arranged Surely it is connected with a first gear (26), the bottom of first gear (26) is engaged with the first rack gear (24).
7. a kind of fastener automatic assembling machine people according to claim 6, it is characterised in that: the removable tool storage room It further include that rectangular shaped rim bracket (29), second stepper motor (30) and two third hydraulic lifting arms (31), two thirds are hydraulic Elevating lever (31) is vertically arranged in the two sides of conveyer belt (3), the bottom and pedestal (1) of two third hydraulic lifting arms (31) respectively Top be fixedly connected, rectangular shaped rim bracket (29) is in horizontally disposed, and the top of two third hydraulic lifting arms (31) is defeated Outlet is fixedly connected with the both ends bottom of rectangular shaped rim bracket (29) respectively, wherein solid on the outer wall of third hydraulic lifting arm (31) Surely one is connected with for detecting the third linear displacement transducer of rectangular shaped rim bracket (29) lifting distance, second stepper motor (30) it is fixed at top one end of rectangular shaped rim bracket (29), rotary type tub (5) is rotatably arranged on rectangular shaped rim bracket (29) it inside and is sequentially connected with second stepper motor (30), second stepper motor (30) and rotary type tub (5) are driven Connection, side outer rim of the rotary type tub (5) close to the first hydraulic motor (63) offer the set of several different diameter specifications Cylinder holding tank (37), all sleeve holding tanks (37) are distributed uniformly and circumferentially the outer rim in rotary type tub (5).
8. a kind of fastener automatic assembling machine people according to claim 7, it is characterised in that: the dynamical system is also wrapped Third stepper motor (40) and cylinder body (41) are included, plummet areal coordinate frame (4) passes through two the 4th hydraulic liftings being vertically arranged Bar (42) is arranged in the top of pedestal (1), and two the 4th hydraulic lifting arms (42) are located at two sides and the bottom of conveyer belt (3) Portion is fixedly connected with pedestal (1), the top output port of two the 4th hydraulic lifting arms (42) respectively with plummet areal coordinate frame (4) Top both ends be fixedly connected, cylinder body (41), which slides, rides upon the top of plummet areal coordinate frame (4), second stepper motor (30) It is fixedly connected with the bottom of cylinder body (41), the transmission of the output shaft and plummet areal coordinate frame (4) of second stepper motor (30) connects It connects, the first hydraulic motor (63) is fixedly connected with one for picking up sleeve on the output shaft of removable tool storage room one end (67) barrel shell (51), torque control mechanism and the first hydraulic motor (63) export axis connection far from the one end of barrel shell (51), turn round Square control mechanism is located at the side at the top of hydraulic pressure moving platform (6) far from the first hydraulic motor (63).
9. a kind of fastener automatic assembling machine people according to claim 8, it is characterised in that: the top of the pedestal (1) Portion two sides are provided with several and are set for adjusting the solenoid valve (61) of oil pressure, programmable logic controller (PLC) (7) by a level Support plate (62) setting set is at the both ends of the upper support plate (62) of pedestal (1) and the fixed company of the outer wall of the 5th hydraulic pressure support bar It connects.
CN201810950064.6A 2018-08-20 2018-08-20 Fastener automatic assembly robot Active CN109227103B (en)

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CN110989587A (en) * 2019-11-29 2020-04-10 龙铁纵横(北京)轨道交通科技股份有限公司 Intelligent robot fastening control system and method
CN111376038A (en) * 2020-03-19 2020-07-07 杭州翊通行机电有限公司 Visual assembly workstation
CN111515653A (en) * 2020-03-24 2020-08-11 江阴兴澄特种钢铁有限公司 Dismounting robot for high-temperature connecting pipe
CN114770076A (en) * 2022-05-17 2022-07-22 陶平安 Automatic positioning and assembling equipment for insulator

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CN202701876U (en) * 2012-07-24 2013-01-30 宁夏银川大河数控机床有限公司 Movable tool magazine for horizontal processing center
CN104625705A (en) * 2014-12-19 2015-05-20 浙江水利水电学院 Automatic nutting mechanism based on constant magnet
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CN114770076A (en) * 2022-05-17 2022-07-22 陶平安 Automatic positioning and assembling equipment for insulator
CN114770076B (en) * 2022-05-17 2023-12-05 国网浙江省电力有限公司杭州供电公司 Insulator automatic positioning assembly equipment

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